Combined linear and non-linear controller design for motor position regulation
Sign Up to like & getrecommendations! Published in 2018 at "Electronics Letters"
DOI: 10.1049/el.2017.4814
Abstract: A composite robust controller is proposed for typical motor servo systems subject to control saturation and unknown disturbance. The controller contains a linear servo control law which achieves a fast response, and a non-linear control… read more here.
Keywords: control; non linear; motor position; motor ... See more keywords
Nonlinear PI“D”-Type Control of Flexible Joint Robots by Using Motor Position Measurements Is Globally Asymptotically Stable
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Automatic Control"
DOI: 10.1109/tac.2022.3194043
Abstract: An important subject that arises in the position control of robot manipulators is the local or global asymptotic stability of the closed-loop system equilibrium point, especially when an integral action is added to the control… read more here.
Keywords: control; joint robots; motor position; position measurements ... See more keywords